面向自然二次曲面的喷涂机器人喷枪轨迹优化

摘要/Abstract

摘要：

针对复杂自由曲面中出现的曲率较大的类自然二次曲面喷涂轨迹优化问题，基于推导得出自然二次曲面上的喷枪3D模型，根据喷涂要求，将大曲率类自然二次曲面拟合规划成自然二次曲面的组合，运用变喷涂半径和轨迹分段的方法讨论了自然二次曲面上涂层厚度的计算方法和相关喷枪参数的优化问题，并以某一汽车后保险杠为例，讨论了圆柱面和圆锥面与平面交界处的喷枪轨迹优化。仿真试验表明：喷枪3D模型的运用在一定程度上提高了曲面上的涂层均匀性;通过对曲面上有限点处的喷枪优化参数进行拟合，得出圆锥面和球面上的喷枪速率随轨迹间距呈非线性变化，其余参数呈线性变化;在不同面片交界处的喷枪轨迹优化方案满足喷涂质量要求。

关键词:

喷涂机器人, 自然二次曲面, 轨迹优化, 涂层均匀性, 仿真

Abstract:

Aimming at path optimization of a spray painting robot for big curvature similar natural quadric surfaces, based on the spray gun 3D model of natural quadric surfaces, and spray requirments, the big curvature similar natural quadric surface was fitted into the combination of natural quadric surfaces. Using the methods of adjusting the spray radius and trajectory partition the calculation method of coating thickness and optimization of parameters was discussed for natural quadric surfaces. Taking a car rear bumper as an example, the trajectory optimization was carried out at the junctions of cylndrical surface, conical surface and plane. Simulation results show that the spray gun 3D model can improve the coating uniformity of surfaces; optimized parameters of limited points are fitted on surfaces, the spray velocity indicates non-linear variations with spacing distance and other parameters follow linear variations on the conical surface and spherical surface; the optimization method is feasible on the junctions of the different patches.

Key words:

spray painting robot, natural quadric surface, trajectory optimization, coating uniformity, simulation

中图分类号:

TP24

曾勇, 龚俊.

面向自然二次曲面的喷涂机器人喷枪轨迹优化

[J]. 中国机械工程, 2011, 22(3): 282-290.

CENG Yong, GONG Dun.

Trajectory Optimization of Spray Painting Robot for Natural Quadric Surfaces

[J]. China Mechanical Engineering, 2011, 22(3): 282-290.

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